/*
 * Copyright (c) 2024 Black Sesame Technologies
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef _DAL_FASTDDS_DBH_RELIABLE_WRITER_HPP_
#define _DAL_FASTDDS_DBH_RELIABLE_WRITER_HPP_

#include "dal_fastdds/dbh/DalDbhWriter.hpp"
#include "dal_fastdds/listener_impl/DataWriterListenerImplDbhExtend.hpp"
#include "dal_fastdds/listener_impl/DataReaderListenerImplDbhExtend.hpp"

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>

using namespace eprosima::fastdds::dds;
using namespace dal_dmabufheap;

class DalDbhReliableWriter : public DalDbhWriter
{
public:
    const static uint32_t WRITE_TIMEOUT = 100;

    DalDbhReliableWriter();
    ~DalDbhReliableWriter();

    bool CreateDbhSendNotifyWriter() override;
    bool CreateDbhRecvNotifyReader() override;
    bool Write(void* msg) override;

private:
    void GenUUID(uint8_t* ptr);

private:
    DataWriterListenerImplDbhExtend* writer_dbh_listener_ = nullptr;
    DataReaderListenerImplDbhExtend* reader_dbh_listener_ = nullptr;
};

#endif  // _DAL_FASTDDS_DBH_RELIABLE_WRITER_HPP_